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Disco B
D
a)
B
CIR
0,75
b)
c)
E
C
CIR
CIR
r
r
vA = v i
r
r
r
r
v A = A k r j = A r i
r
r
vD = v i
r
r
r
r
v D = B k 2 r j = B 2 r i
r
r
vE = v i
r
r
r
r
v E = C k r j = C r i
r
v r
A = k
r
r
v r
B = k
2r
r
vr
C = k
r
r
v r
B = k
2r
r
a r
& B = k
2r
r
r v r vr
r
vB = B k r j =
ri = i
2r
2
r
ar
aB = i
2
r
vr
C = k
r
r
ar
& C = k
r
r
r
v C = 0 (constante )
r
r
aC = 0
r
vr
A = k
r
r
ar
& A = k
r
r
r
0,75 d)
vA = v i
r
r
aA = ai
0,75
Disco C
extremidade
r
A
e acelerao angular & j . Expressando as respostas na base
superior da barra B
C centro da barra B
do sistema de coordenadas Oxyz, solidrio ao disco, pede-se
para calcular:
r
r
P
j
z
k O
a) A velocidade absoluta do ponto C, a velocidade
r
R
relativa do ponto P e a velocidade absoluta do ponto P.
i
C
c)
Soluo:
1,5
a)
r r
r
r
v P, rel = vC ,rel + rP / C
r
r
r
r
v P, rel = 0 i L j
r
r
v P, rel = L k
r
r
r r
v C = v O + rC / O
r
r
r
r
vC = 0 j R i
r
r
vC = R k
r
r
r r
v P, ar = vC + rP / C
r
r
r
r
v P, ar = R k j L j
r
r
v P, ar = R k
r
r
r
v P = v P, rel + v P, ar
r
r
r
v P = L k + R k
r
r
v P = ( R L) k
0,5
b)
r
r
r r
r r r
a C = aO + & rC / O + ( rC / O )
r
r
r
r
r
r
r
a C = 0 + & j R i j j R i
r
r
r
a C = & R k 2 R i
1,0
d)
c) 0,5
r
r
r r
r r r
a P ,ar = aC + & rP / C + ( rP / C )
r
r
r
r
r
r
r
r
a P ,ar = & R k 2 R i + & j L j j j L j
r
r
r
a P ,ar = & R k 2 R i
r
r
r
r
a P = a P, rel + a P, ar + a P, cor
r
r
r
r
r
a P = 2 L j + & R k 2 R i + 2 L i
r
r
r
r
a P = 2 L 2 R i 2 L j & R k
(
(
) (
) (
r&
r r r
r
r
r
a P ,rel = a C , rel +
rP / C + rP / C
rel
r r
r
r
r
r
r
a P ,rel = 0 + 0 L j i i L j
r
r
a P ,rel = 2 L j
r
r r
a P ,cor = 2 v P, rel
r
r
r
a P ,cor = 2 j L k
r
r
a P ,cor = 2 L i
a)
C
b) As
aceleraes
relativa,
de
arrastamento e absoluta do ponto B.
c)
r
j
As
velocidades
relativa,
de
arrastamento e absoluta do ponto B.
r
i
s
Soluo:
1,0
a)
1,0
b)
r
r
v B, rel = s& i
r
r
a B , rel = s&& i
r
r
a B , rel = 0
r
aB
r
aB
1,0
r
r
r r
v B, ar = vO + rB / O
r
r r
r
r
r
v B, ar = 0 + k s i = k (l sen )i
r
r
v B, ar = l sen j
r
r
r
v B = v B, rel + v B ,ar
r
r
r
v B = s& i + l sen j
r
r
r r
r r r
a B ,ar = aO + & rB / O + ( rB / O )
r r
r
r
r
r
r
a B ,ar = 0 + 0 l sen i + k k l sen i
r
r
2
a B ,ar = l sen i
r
r
r
r
r
r
= a B, rel + a B, ar + a B ,cor = 0 + 2 l sen i + 2 s& j
r
r
= 2 l sen i + 2 s& j
() (
c)
) (
r
r
r
r
r
r
r
v A, rel = v B, rel + & rA / B = s& i + & k l sen i + cos j
r
r
r
r
s&
v A, rel = s& i & l sen j & l cos i
& =
l cos
r
r
v A, rel = v A, rel j
v
&
&
A ,rel = l sen = s tg
r
r
v A, rel = s& tg j
d)
0,5
r
r
r
r
r
AB = rel + ar = & k + k =
r
s&
r
AB =
+ k
l cos
r
s& r
k + k
l cos
r
r r
a B ,cor = 2 v B, rel
r r
r
a B ,cor = 2 k s& i
r
r
a B ,cor = 2 s& j
r
r
r r
v A, ar = vO + rA / O
r
r
r
r
v A, ar = 0 + k l cos j
r
r
v A, ar = l cos i
r
r
r
v A = v A, ar + v A, rel
r
r
r
v A = l cos i s& tg j
s&
l cos